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added ability to get the integrator for debugging

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1117 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2010-12-13 04:05:55 +00:00
parent 7945937874
commit f64fab442d
1 changed files with 6 additions and 4 deletions
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10
libraries/PID/PID.h
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@ -96,10 +96,10 @@ public:
/// @name parameter accessors /// @name parameter accessors
//@{ //@{
float kP() { return _gain_array[0]; } float kP() { return _gain_array[0]; }
float kI() { return _gain_array[1]; } float kI() { return _gain_array[1]; }
float kD() { return _gain_array[2]; } float kD() { return _gain_array[2]; }
float imax() { return _gain_array[3]; } float imax() { return _gain_array[3]; }
void kP(const float v) { _gain_array[0] = v; } void kP(const float v) { _gain_array[0] = v; }
void kI(const float v) { _gain_array[1] = v; } void kI(const float v) { _gain_array[1] = v; }
@ -111,6 +111,8 @@ public:
{ kP(p); kI(i); kD(d); imax(max); } { kP(p); kI(i); kD(d); imax(max); }
//@} //@}
float get_integrator() { return _integrator; }
private: private:
uint16_t _address; ///< EEPROM address for save/restore of P/I/D uint16_t _address; ///< EEPROM address for save/restore of P/I/D
float *_gain_array; ///< pointer to the gains for this pid float *_gain_array; ///< pointer to the gains for this pid